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Commander: split out rc override logic into ManualControl

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This commit is contained in:
Matthias Grob
2021-03-04 10:41:21 +01:00
parent a4da15edf5
commit dda895c94b
5 changed files with 163 additions and 37 deletions
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src/modules/commander/Commander.hpp
+2 -8
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@@ -37,6 +37,7 @@
/* Helper classes */
#include "Arming/PreFlightCheck/PreFlightCheck.hpp"
#include "failure_detector/FailureDetector.hpp"
#include "ManualControl.hpp"
#include "state_machine_helper.h"
#include "worker_thread.hpp"
@@ -70,7 +71,6 @@
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/geofence_result.h>
#include <uORB/topics/iridiumsbd_status.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/manual_control_switches.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
@@ -286,12 +286,6 @@ private:
ALWAYS = 2
};
enum OverrideMode {
OVERRIDE_AUTO_MODE_BIT = (1 << 0),
OVERRIDE_OFFBOARD_MODE_BIT = (1 << 1),
OVERRIDE_IGNORE_THROTTLE_BIT = (1 << 2)
};
/* Decouple update interval and hysteresis counters, all depends on intervals */
static constexpr uint64_t COMMANDER_MONITORING_INTERVAL{10_ms};
static constexpr float COMMANDER_MONITORING_LOOPSPERMSEC{1 / (COMMANDER_MONITORING_INTERVAL / 1000.0f)};
@@ -367,6 +361,7 @@ private:
manual_control_setpoint_s _last_manual_control_setpoint{};
manual_control_switches_s _manual_control_switches{};
manual_control_switches_s _last_manual_control_switches{};
ManualControl _manual_control;
hrt_abstime _rc_signal_lost_timestamp{0}; ///< Time at which the RC reception was lost
int32_t _flight_mode_slots[manual_control_switches_s::MODE_SLOT_NUM] {};
uint8_t _last_manual_control_switches_arm_switch{manual_control_switches_s::SWITCH_POS_NONE};
@@ -417,7 +412,6 @@ private:
uORB::Subscription _iridiumsbd_status_sub{ORB_ID(iridiumsbd_status)};
uORB::Subscription _land_detector_sub{ORB_ID(vehicle_land_detected)};
uORB::Subscription _safety_sub{ORB_ID(safety)};
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _manual_control_switches_sub{ORB_ID(manual_control_switches)};
uORB::Subscription _system_power_sub{ORB_ID(system_power)};
uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};